/*
 * @Description: 从姿态阵转换为四元素
 * @Author: Sang Hao
 * @Date: 2021-09-15 17:15:19
 * @LastEditTime: 2021-10-27 14:17:53
 * @LastEditors: Sang Hao
 */

#include "lidar_slam/sensor_data/key_frame.hpp"

namespace lidar_slam {
Eigen::Quaternionf KeyFrame::GetQuaternion() {
	Eigen::Quaternionf q;
	q = pose.block<3, 3>(0, 0);

	return q;
}
}